CN111220932A - Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system - Google Patents
Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system Download PDFInfo
- Publication number
- CN111220932A CN111220932A CN201911144966.1A CN201911144966A CN111220932A CN 111220932 A CN111220932 A CN 111220932A CN 201911144966 A CN201911144966 A CN 201911144966A CN 111220932 A CN111220932 A CN 111220932A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- magnetometer
- magnetic
- magnetic interference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/10—Plotting field distribution ; Measuring field distribution
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
Abstract
The invention provides an unmanned aerial vehicle magnetic interference calibration method and a distributed magnetic anomaly detection system, wherein the method comprises the following steps: horizontally placing the unmanned aerial vehicle on the ground, measuring a geomagnetic field vector, and installing a first magnetometer on the ground; installing a second magnetometer; rotating the unmanned aerial vehicle clockwise by taking the first magnetic strength as a rotation center, and sequentially measuring first magnetic field difference values in 8 directions and first included angles between geomagnetic field vectors and coordinate axes of the unmanned aerial vehicle; the unmanned aerial vehicle is placed on the ground after being turned over for 180 degrees along the horizontal symmetry axis, and a third magnetometer is installed on the ground; rotating the unmanned aerial vehicle clockwise by taking the third magnetic strength as a rotation center, and sequentially measuring second magnetic field difference values in 8 directions and second included angles between geomagnetic field vectors and the coordinate axis of the unmanned aerial vehicle; and calculating the magnetic interference coefficient of the unmanned aerial vehicle to finish the magnetic interference calibration of the unmanned aerial vehicle. By applying the technical scheme of the invention, the technical problems of complex operation, higher operation risk and low magnetic interference calibration precision of the unmanned aerial vehicle magnetic interference calibration method in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of magnetic detection, in particular to an unmanned aerial vehicle magnetic interference calibration method and a distributed magnetic anomaly detection system.
Background
The geomagnetic field generally changes regularly and slowly along with time and space, and when a magnetic substance exists, the magnetic field of the magnetic substance and the induction magnetic field generated by the magnetic substance under the geomagnetic field are superposed on the geomagnetic field, so that the geomagnetic field is abnormal in a certain area. A large amount of metal mineral products are stored in earth land and sea, underwater military equipment such as submarines, mines and the like are mainly made of metal materials, and magnetic substances in the underwater military equipment can cause the abnormity of the surrounding geomagnetic field. The magnetic anomaly detection system realizes the detection and positioning of magnetic substances by detecting and identifying the anomaly information of the geomagnetic field, is widely applied in the fields of resource exploration, underwater target detection and the like, and is a key core technology for national economic development and national defense construction.
The distributed magnetic anomaly detection system adopts a magnetometer and utilizes small unmanned platforms such as unmanned aerial vehicles, unmanned underwater vehicles and magnetic buoys to construct an intelligent detection network for distributed detection. Compared with the traditional large-scale man-machine magnetic anomaly detection system, the distributed magnetic anomaly detection system has the advantages of high detection precision, large detection range, high detection efficiency, low cost and the like, and becomes the development direction of a new generation of magnetic anomaly detection technology. When the distributed magnetic anomaly detection system detects submarine signals through the high-precision magnetic sensor, the distributed magnetic anomaly detection system is easily influenced by magnetic interference of small unmanned platforms such as unmanned aerial vehicles, the signal-to-noise ratio of the detection signals is reduced, performance indexes such as detection distance of the detection system are influenced, and therefore the magnetic field interference of the small unmanned platforms such as the unmanned aerial vehicles needs to be tested, calibrated and compensated.
Unmanned aerial vehicles are mostly adopted in small and medium-sized unmanned platforms of the distributed magnetic anomaly detection system, magnetic interference of the unmanned aerial vehicles comprises permanent magnetic interference, magnetic induction interference, eddy magnetic interference, random magnetic interference and the like, and is mainly caused by metal structures of airplanes, airborne equipment and the like, wherein the permanent magnetic interference and the magnetic induction interference have large influence on the distributed magnetic anomaly detection system. In the prior art, the magnetic interference calibration method of the unmanned aerial vehicle generally needs the unmanned aerial vehicle to perform a series of complex maneuvering actions in the air, the risk in the process is high, the error of the solved magnetic interference coefficient is large due to serious coupling among different types of magnetic interference, and the magnetic interference calibration precision is reduced.
Disclosure of Invention
The invention provides an unmanned aerial vehicle magnetic interference calibration method and a distributed magnetic anomaly detection system, which can solve the technical problems of complex operation, higher operation risk and low magnetic interference calibration precision of the unmanned aerial vehicle magnetic interference calibration method in the prior art.
According to one aspect of the invention, an unmanned aerial vehicle magnetic interference calibration method is provided, and the unmanned aerial vehicle magnetic interference calibration method comprises the following steps: horizontally placing an unmanned aerial vehicle at a ground set position, measuring a geomagnetic field vector of the ground set position, and installing a first magnetometer on the ground, wherein the projection position of the first magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle; installing a second magnetometer to measure the environmental magnetic field, wherein the second magnetometer is arranged at intervals with the unmanned aerial vehicle; taking the first magnetometer as a rotation center, starting from the direction of the head of the unmanned aerial vehicle to the due north, sequentially rotating the unmanned aerial vehicle clockwise along the horizontal plane at intervals of 45 degrees until the unmanned aerial vehicle rotates clockwise by 315 degrees, sequentially measuring first magnetic field difference values between the first magnetometer and the second magnetometer in 8 directions, and simultaneously sequentially measuring first included angles between the geomagnetic field vectors in 8 directions and three coordinate axes of a coordinate system of the unmanned aerial vehicle; the unmanned aerial vehicle is placed at a set position on the ground after being turned 180 degrees along a horizontal symmetry axis of the unmanned aerial vehicle, a third magnetometer is installed on the ground, and the projection position of the third magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flying process of the unmanned aerial vehicle; taking the third magnetometer as a rotation center, starting from the direction of the nose of the unmanned aerial vehicle to the due north, sequentially rotating the unmanned aerial vehicle clockwise along the horizontal plane at intervals of 45 degrees until the unmanned aerial vehicle rotates clockwise by 315 degrees, sequentially measuring second magnetic field difference values between the third magnetometer and the second magnetometer in 8 directions, and simultaneously sequentially measuring second included angles between the geomagnetic field vectors in 8 directions and three coordinate axes of a coordinate system of the unmanned aerial vehicle; and calculating the magnetic interference coefficient of the unmanned aerial vehicle according to the geomagnetic field vector, the first magnetic field difference value, the second magnetic field difference value, the first included angle and the second included angle, and finishing the magnetic interference calibration of the unmanned aerial vehicle according to the magnetic interference coefficient of the unmanned aerial vehicle.
Further, the magnetic interference coefficient of the unmanned aerial vehicle is based on
Calculating, wherein b represents the magnetic interference coefficient of the unmanned aerial vehicle, HInterferenceIndicating magnetic interference of the drone, HeRepresenting the earth-magnetic field vector, XN is positive、YN is positiveAnd ZN is positiveRespectively represents the geomagnetic field vector H in the nth direction when the unmanned aerial vehicle is horizontally placed at the set position on the groundeIncluded angles between X-axis, Y-axis and Z-axis of coordinate system of unmanned aerial vehicle, XN is inverse、 YN is inverseAnd ZN is inverseRespectively shows the geomagnetic field vector H in the nth direction when the unmanned aerial vehicle is placed at the set position on the ground after being overturned by 180 degrees along the horizontal symmetry axis of the unmanned aerial vehicleeIncluded angle, delta B, between X-axis, Y-axis and Z-axis of coordinate system of unmanned aerial vehicleN is positiveRepresents a first magnetic field difference value, delta B, between the first magnetometer and the second magnetometer in the nth direction when the unmanned aerial vehicle is horizontally placed at the ground set positionN is inverseRepresenting a second magnetic field difference value between the third magnetometer and the second magnetometer in the nth direction when the unmanned aerial vehicle is placed at a set position on the ground after being turned 180 degrees along the horizontal symmetry axis of the unmanned aerial vehicle, wherein n is {1,2,3.. 8 }; the X-axis of the coordinate system of the unmanned aerial vehicle is the horizontal symmetry axis of the unmanned aerial vehicle and points to the nose direction of the unmanned aerial vehicle from the tail of the unmanned aerial vehicle, the Y-axis is the vertical symmetry axis of the unmanned aerial vehicle and points to the top direction of the unmanned aerial vehicle from the belly of the unmanned aerial vehicle, the Z-axis is the starboard direction of the unmanned aerial vehicle from the port of the unmanned aerial vehicle, and the X-axis, the Y-axis and the Z-axis are perpendicular to each other between any two coordinate axes.
Further, the magnetic interference of the unmanned aerial vehicle comprises permanent magnetic interference and magnetic induction interference.
Further, the interval between first magnetometer and the second magnetometer is greater than 3 times of unmanned aerial vehicle's maximum structure size, and the interval between third magnetometer and the second magnetometer is greater than 3 times of unmanned aerial vehicle's maximum structure size.
Further, the first magnetometer, the second magnetometer, and the third magnetometer each comprise an atomic magnetometer or an optical pump magnetometer.
Further, the first magnetometer and the third magnetometer are the same set of magnetometers.
According to another aspect of the present invention, a distributed magnetic anomaly detection system is provided, which performs magnetic interference calibration of an unmanned aerial vehicle by using the magnetic interference calibration method of an unmanned aerial vehicle as described above.
The technical scheme of the invention provides an unmanned aerial vehicle magnetic interference calibration method and a distributed magnetic anomaly detection system, the unmanned aerial vehicle magnetic interference calibration method places the unmanned aerial vehicle on the ground in a positive and negative mode and rotates the unmanned aerial vehicle along a set direction, and the magnetic interference coefficient of the unmanned aerial vehicle is calculated according to the measurement data in different directions, so that the magnetic interference calibration of the unmanned aerial vehicle is completed. Compared with the prior art, the technical scheme of the invention can solve the technical problems of complex operation, higher operation risk and low magnetic interference calibration precision of the unmanned aerial vehicle magnetic interference calibration method in the prior art.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 shows a flowchart of a method for calibrating magnetic interference of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 shows a schematic diagram of a coordinate system of a drone provided according to a specific embodiment of the invention;
fig. 3 is a schematic diagram of the drone according to the specific embodiment of the present invention placed horizontally on the ground in a set position;
fig. 4 shows a schematic diagram of the unmanned aerial vehicle placed in a ground setting position after being turned 180 ° along the horizontal symmetry axis of the unmanned aerial vehicle, according to the specific embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
As shown in fig. 1, according to a specific embodiment of the present invention, there is provided a magnetic interference calibration method for an unmanned aerial vehicle, including: horizontally placing an unmanned aerial vehicle at a ground set position, measuring a geomagnetic field vector of the ground set position, and installing a first magnetometer on the ground, wherein the projection position of the first magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle; installing a second magnetometer to measure the environmental magnetic field, wherein the second magnetometer is arranged at intervals with the unmanned aerial vehicle; taking the first magnetometer as a rotation center, starting from the direction of the head of the unmanned aerial vehicle to the due north, sequentially rotating the unmanned aerial vehicle clockwise along the horizontal plane at intervals of 45 degrees until the unmanned aerial vehicle rotates clockwise by 315 degrees, sequentially measuring first magnetic field difference values between the first magnetometer and the second magnetometer in 8 directions, and simultaneously sequentially measuring first included angles between the geomagnetic field vectors in 8 directions and three coordinate axes of a coordinate system of the unmanned aerial vehicle; the unmanned aerial vehicle is placed at a set position on the ground after being turned 180 degrees along a horizontal symmetry axis of the unmanned aerial vehicle, a third magnetometer is installed on the ground, and the projection position of the third magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flying process of the unmanned aerial vehicle; taking the third magnetometer as a rotation center, starting from the direction of the nose of the unmanned aerial vehicle to the due north, sequentially rotating the unmanned aerial vehicle clockwise along the horizontal plane at intervals of 45 degrees until the unmanned aerial vehicle rotates clockwise by 315 degrees, sequentially measuring second magnetic field difference values between the third magnetometer and the second magnetometer in 8 directions, and simultaneously sequentially measuring second included angles between the geomagnetic field vectors in 8 directions and three coordinate axes of a coordinate system of the unmanned aerial vehicle; and calculating the magnetic interference coefficient of the unmanned aerial vehicle according to the geomagnetic field vector, the first magnetic field difference value, the second magnetic field difference value, the first included angle and the second included angle, and finishing the magnetic interference calibration of the unmanned aerial vehicle according to the magnetic interference coefficient of the unmanned aerial vehicle.
By applying the configuration mode, the unmanned aerial vehicle magnetic interference calibration method is provided, the unmanned aerial vehicle is placed on the ground in a forward and reverse mode and rotates along the set direction, the magnetic interference coefficient of the unmanned aerial vehicle is calculated according to the measurement data in different directions, and then the magnetic interference calibration of the unmanned aerial vehicle is completed. Compared with the prior art, the technical scheme of the invention can solve the technical problems of complex operation, higher operation risk and low magnetic interference calibration precision of the unmanned aerial vehicle magnetic interference calibration method in the prior art.
In the actual detection process, the influence of the permanent magnetic interference and the magnetic induction interference of the unmanned aerial vehicle on the distributed magnetic anomaly detection system is large, so that only the calibration of the permanent magnetic interference and the magnetic induction interference on the unmanned aerial vehicle is considered in the invention. An unmanned aerial vehicle magnetic interference model is established by adopting a T-L equation, as shown in figure 2, an X axis of a coordinate system defining the unmanned aerial vehicle is a horizontal symmetrical axis of the unmanned aerial vehicle and points to the head direction of the unmanned aerial vehicle from the tail of the unmanned aerial vehicle, a Y axis is a vertical symmetrical axis of the unmanned aerial vehicle and points to the top direction of the unmanned aerial vehicle from the belly of the unmanned aerial vehicle, a Z axis points to the starboard direction of the unmanned aerial vehicle from the port of the unmanned aerial vehicle, and any two coordinate axes of the X axis, the Y axis and the Z axis are perpendicular to each.
If the projections of the permanent magnetic interference of the unmanned aerial vehicle on the X axis, the Y axis and the Z axis of the coordinate system of the unmanned aerial vehicle are T, L and V respectively, the projection H of the permanent magnetic interference on the geomagnetic field vectorpdCan be expressed as
Wherein X, Y and Z respectively represent the earth magnetic field vector HeAnd the included angle between the X axis, the Y axis and the Z axis of the coordinate system of the unmanned aerial vehicle.
The projections of the magnetic interference of the unmanned aerial vehicle on the X-axis, the Y-axis and the Z-axis of the unmanned aerial vehicle are related to the projections of the geomagnetic field vector on the X-axis, the Y-axis and the Z-axis of the coordinate system of the unmanned aerial vehicle, so that the magnetic interference is projected on the geomagnetic field vector HeProjection H ontoidSatisfy the requirement of
And (4) relationship. Wherein TT, LT and VT respectively represent the magnetic induction interference coefficients generated by the geomagnetic field in the X direction on the X axis, the Y axis and the Z axis of the unmanned aerial vehicle, TL, LL and VL respectively represent the magnetic induction interference coefficients generated by the geomagnetic field in the Y direction on the X axis, the Y axis and the Z axis of the unmanned aerial vehicle, and TV, LV and VV respectively represent the magnetic induction interference coefficients generated by the geomagnetic field in the Z direction on the X axis, the Y axis and the Z axis of the unmanned aerial vehicle.
According to the calculation formula of the permanent magnetic interference and the magnetic induction interference of the unmanned aerial vehicle, the magnetic interference H of the unmanned aerial vehicleInterferenceSatisfy HInterference＝Hpd+Hid＝cT·b，
I.e. by measuring magnetic interference H of the droneInterferenceGeomagnetic field vector HeAnd the earth magnetic field vector HeAnd the included angle between the coordinate system of the unmanned aerial vehicle and the X axis, the Y axis and the Z axis can be calculated to obtain the magnetic interference coefficient b of the unmanned aerial vehicle, and the magnetic interference calibration of the unmanned aerial vehicle is completed according to the magnetic interference coefficient b of the unmanned aerial vehicle.
In the invention, in order to calibrate the magnetic interference of the unmanned aerial vehicle, according to the derivation, as shown in fig. 3, the unmanned aerial vehicle is horizontally placed at a ground set position, the geomagnetic field vector of the ground set position is measured, and a first magnetometer is installed on the ground, wherein the projection position of the first magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle, so that the measurement accuracy of the first magnetometer is ensured.
Further, in the invention, in order to overcome the influence of the environmental magnetic field on the magnetic interference calibration of the unmanned aerial vehicle, after the first magnetometer is installed, the second magnetometer is installed to measure the environmental magnetic field, the second magnetometer and the unmanned aerial vehicle are arranged at intervals, and the magnetic interference of the unmanned aerial vehicle is represented by the magnetic field difference value between the first magnetometer and the second magnetometer. As a specific embodiment of the present invention, in order to avoid that the measurement of the ambient magnetic field is affected by magnetic interference of the drone, the second magnetometer is arranged at a location remote from the drone. In this embodiment, the spacing between the first and second magnetometers is greater than 3 times the maximum structural dimension of the drone. Wherein the maximum structural dimension of unmanned aerial vehicle can be unmanned aerial vehicle's length or width, selects the great one of the two median.
In addition, in the present invention, as shown in fig. 3, after the second magnetometer is installed, the first magnetometer is taken as a rotation center, the unmanned aerial vehicle is sequentially rotated clockwise along the horizontal plane at intervals of 45 ° from the head of the unmanned aerial vehicle toward the north direction until the unmanned aerial vehicle rotates clockwise by 315 °, first magnetic field difference values between the first magnetometer and the second magnetometer in 8 directions are sequentially measured, and first included angles between the geomagnetic field vector in 8 directions and three coordinate axes of a coordinate system of the unmanned aerial vehicle are sequentially measured. As an embodiment of the invention, the rotations are allowed to deviate by ± 5 °.
Further, in the present invention, as shown in fig. 4, after the rotation that the unmanned aerial vehicle is being placed on the ground is completed, the unmanned aerial vehicle is turned 180 ° along the horizontal symmetry axis of the unmanned aerial vehicle and then placed at a set position on the ground, and the third magnetometer is installed on the ground, and the projection position of the third magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle, so as to ensure the accuracy of the measurement of the third magnetometer. As a specific embodiment of the invention, also to avoid that the measurement of the ambient magnetic field is affected by magnetic interference of the drone, the distance between the third magnetometer and the second magnetometer is greater than 3 times the maximum structural size of the drone. Wherein the maximum structural dimension of unmanned aerial vehicle can be unmanned aerial vehicle's length or width, selects the great one of the two median.
As a specific embodiment of the present invention, the first magnetometer, the second magnetometer, and the third magnetometer each include an atomic magnetometer or an optical pump magnetometer. In this embodiment, a GSMP-35 potassium optical pump magnetometer can be used for unmanned aerial vehicle magnetic interference calibration, wherein the measurement range of the GSMP-35 potassium optical pump magnetometer is 15000-120000nT, the sensitivity is 0.0003nT @1Hz, and the sampling frequency is 20 Hz. Furthermore, to save costs, the first magnetometer and the third magnetometer may employ the same set of magnetometers.
In addition, in the present invention, as shown in fig. 4, after the third magnetometer is installed, the third magnetometer is taken as a rotation center, the unmanned aerial vehicle is sequentially rotated clockwise along the horizontal plane at intervals of 45 ° from the head of the unmanned aerial vehicle toward the north direction until the unmanned aerial vehicle rotates clockwise by 315 °, second magnetic field difference values between the third magnetometer and the second magnetometer in 8 directions are sequentially measured, and second included angles between the geomagnetic field vector in 8 directions and three coordinate axes of the coordinate system of the unmanned aerial vehicle are sequentially measured. As an embodiment of the invention, the rotations are also allowed to be ± 5 °.
Further, after the measurement of the first included angle and the second included angle is completed, the magnetic interference coefficient of the unmanned aerial vehicle is calculated according to the geomagnetic field vector, the first magnetic field difference value, the second magnetic field difference value, the first included angle and the second included angle, and the magnetic interference calibration of the unmanned aerial vehicle is completed according to the magnetic interference coefficient of the unmanned aerial vehicle. As a specific embodiment of the invention, the magnetic interference coefficient of the unmanned aerial vehicle is determined according to
Calculating, wherein b represents the magnetic interference coefficient of the unmanned aerial vehicle, HInterferenceIndicating magnetic interference of the drone, HeRepresenting the earth-magnetic field vector, XN is positive、YN is positiveAnd ZN is positiveRespectively represents the geomagnetic field vector H in the nth direction when the unmanned aerial vehicle is horizontally placed at the set position on the groundeIncluded angles between X-axis, Y-axis and Z-axis of coordinate system of unmanned aerial vehicle, XN is inverse、 YN is inverseAnd ZN is inverseRespectively shows the geomagnetic field vector H in the nth direction when the unmanned aerial vehicle is placed at the set position on the ground after being overturned by 180 degrees along the horizontal symmetry axis of the unmanned aerial vehicleeIncluded angle, delta B, between X-axis, Y-axis and Z-axis of coordinate system of unmanned aerial vehicleN is positiveRepresents a first magnetic field difference value, delta B, between the first magnetometer and the second magnetometer in the nth direction when the unmanned aerial vehicle is horizontally placed at the ground set positionN is inverseIndicate unmanned aerial vehicle and place the second magnetic field difference value between third magnetometer and the second magnetometer on the nth orientation when setting for the position on ground after 180 along unmanned aerial vehicle's horizontal symmetry axis upset, n ═ is{1,2,3......8}。
In order to verify the accuracy of the unmanned aerial vehicle magnetic interference calibration method, firstly, the environmental magnetic field is evaluated, specifically, two sets of magnetometers are used for simultaneously measuring the environmental magnetic field, which are respectively marked as B1And B2Measurement time not less than 5 minutes, according to B1And B2Calculation of B1-B2The magnitude of the linear change in (a) is noted as Δ b, and is estimated to be less than 0.02 nT. Then, the magnetic interference coefficient b of the unmanned aerial vehicle is solved according to the magnetic interference calibration method of the unmanned aerial vehicle, the magnetic interference of the unmanned aerial vehicle is calibrated, and the calibration effect of the calibration is calculated to be superior to 0.02 nT.
According to another aspect of the present invention, a distributed magnetic anomaly detection system is provided, which performs magnetic interference calibration of an unmanned aerial vehicle by using the magnetic interference calibration method of an unmanned aerial vehicle as described above.
By applying the configuration mode, the distributed magnetic anomaly detection system is provided, and the unmanned aerial vehicle magnetic interference calibration method is adopted for carrying out unmanned aerial vehicle magnetic interference calibration. Therefore, the unmanned aerial vehicle magnetic interference calibration method is applied to the distributed magnetic anomaly detection system, and the working performance of the distributed magnetic anomaly detection system can be greatly improved.
For further understanding of the present invention, the method for calibrating magnetic interference of an unmanned aerial vehicle according to the present invention is described in detail below with reference to fig. 1 to 4.
As shown in fig. 1 to 4, according to a specific embodiment of the present invention, a magnetic interference calibration method for an unmanned aerial vehicle is provided, which specifically includes the following steps.
Step one, horizontally placing the unmanned aerial vehicle at a ground set position, and measuring a geomagnetic field vector H of the ground set positioneAnd a first magnetometer is installed on the ground, and the projection position of the first magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle.
And step two, installing a second magnetometer to measure the environmental magnetic field, wherein the second magnetometer is arranged at an interval with the unmanned aerial vehicle.
And step three, starting from the direction of the head of the unmanned aerial vehicle to the due north with the first magnetometer as a rotation center, sequentially rotating the unmanned aerial vehicle clockwise along the horizontal plane at intervals of 45 degrees until the unmanned aerial vehicle rotates clockwise by 315 degrees, and sequentially measuring first magnetic field difference values delta B between the first magnetometer and the second magnetometer in 8 directionsN is positiveAnd simultaneously and sequentially measuring first included angles X between geomagnetic field vectors in 8 directions and three coordinate axes of a coordinate system of the unmanned aerial vehicleN is positive、YN is positiveAnd ZN is positive。
And step four, turning the unmanned aerial vehicle 180 degrees along the horizontal symmetry axis of the unmanned aerial vehicle, then placing the unmanned aerial vehicle at a set position on the ground, and installing a third magnetometer on the ground, wherein the projection position of the third magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle.
And step five, starting from the head of the unmanned aerial vehicle towards the north direction by taking the third magnetometer as a rotation center, sequentially rotating the unmanned aerial vehicle clockwise along the horizontal plane at intervals of 45 degrees until the unmanned aerial vehicle rotates clockwise by 315 degrees, and sequentially measuring second magnetic field difference values delta B between the third magnetometer and the second magnetometer in 8 directionsN is inverseAnd simultaneously and sequentially measuring second included angles X between geomagnetic field vectors in 8 directions and three coordinate axes of a coordinate system of the unmanned aerial vehicleN is inverse、YN is inverseAnd ZN is inverse。
Step six, according to
And calculating the magnetic interference coefficient b of the unmanned aerial vehicle, and finishing the magnetic interference calibration of the unmanned aerial vehicle according to the magnetic interference coefficient b of the unmanned aerial vehicle.
In conclusion, the invention provides the unmanned aerial vehicle magnetic interference calibration method and the distributed magnetic anomaly detection system, the unmanned aerial vehicle magnetic interference calibration method places the unmanned aerial vehicle on the ground in a forward and reverse mode, rotates the unmanned aerial vehicle along the set direction, calculates the magnetic interference coefficient of the unmanned aerial vehicle according to the measurement data in different directions, and further completes the magnetic interference calibration of the unmanned aerial vehicle, the method is simple to operate, the flight risk of the unmanned aerial vehicle is reduced, the error of the magnetic interference coefficient is reduced, and the precision of the magnetic interference calibration is improved. Compared with the prior art, the technical scheme of the invention can solve the technical problems of complex operation, higher operation risk and low magnetic interference calibration precision of the unmanned aerial vehicle magnetic interference calibration method in the prior art.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An unmanned aerial vehicle magnetic interference calibration method is characterized by comprising the following steps:
horizontally placing the unmanned aerial vehicle at a ground set position, measuring a geomagnetic field vector of the ground set position, and installing a first magnetometer on the ground, wherein the projection position of the first magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle;
installing a second magnetometer to measure an environmental magnetic field, wherein the second magnetometer is arranged at an interval with the unmanned aerial vehicle;
the first magnetometer is taken as a rotation center, the unmanned aerial vehicle is sequentially rotated clockwise along a horizontal plane at intervals of 45 degrees from the head of the unmanned aerial vehicle to the north direction until the unmanned aerial vehicle rotates clockwise by 315 degrees, first magnetic field difference values between the first magnetometer and the second magnetometer in 8 directions are sequentially measured, and first included angles between the geomagnetic field vector and three coordinate axes of a coordinate system of the unmanned aerial vehicle in the 8 directions are sequentially measured;
the unmanned aerial vehicle is placed at a set ground position after being turned 180 degrees along a horizontal symmetry axis of the unmanned aerial vehicle, and a third magnetometer is installed on the ground, wherein the projection position of the third magnetometer on the unmanned aerial vehicle is the same as the installation position of the magnetometer in the actual flight process of the unmanned aerial vehicle;
sequentially and clockwise rotating the unmanned aerial vehicle along a horizontal plane at intervals of 45 degrees from the direction of the head of the unmanned aerial vehicle to the due north by taking the third magnetometer as a rotation center until the unmanned aerial vehicle clockwise rotates by 315 degrees, sequentially measuring second magnetic field difference values between the third magnetometer and the second magnetometer in 8 directions, and simultaneously sequentially measuring second included angles between the geomagnetic field vector and three coordinate axes of a coordinate system of the unmanned aerial vehicle in the 8 directions;
and calculating a magnetic interference coefficient of the unmanned aerial vehicle according to the geomagnetic field vector, the first magnetic field difference value, the second magnetic field difference value, the first included angle and the second included angle, and completing magnetic interference calibration of the unmanned aerial vehicle according to the magnetic interference coefficient of the unmanned aerial vehicle.
2. The calibration method for magnetic interference of unmanned aerial vehicle according to claim 1, wherein the magnetic interference coefficient of unmanned aerial vehicle is determined according to
Calculating, wherein b represents the magnetic interference coefficient of the unmanned aerial vehicle, HInterferenceIndicating magnetic interference of the drone, HeRepresenting the earth-magnetic field vector, XN is positive、YN is positiveAnd ZN is positiveRespectively represent the geomagnetic field vector H in the nth direction when the unmanned aerial vehicle is horizontally placed at the ground set positioneWith the angle between the X-axis, Y-axis and Z-axis of the coordinate system of the unmanned aerial vehicle, XN is inverse、YN is inverseAnd ZN is inverseRespectively shows that the unmanned aerial vehicle is placed in the nth direction when the ground is set at the ground setting position after being overturned for 180 degrees along the horizontal symmetry axis of the unmanned aerial vehicleeAnd the angle between the X-axis, Y-axis and Z-axis of the coordinate system of the unmanned aerial vehicle, Delta BN is positiveRepresenting a first magnetic field differential value, Δ B, between the first magnetometer and the second magnetometer in an nth direction when the UAV is horizontally placed in the ground setting positionN is inverseRepresenting a second magnetic field difference value between the third magnetometer and the second magnetometer in an nth direction when the unmanned aerial vehicle is placed at the set position on the ground after being turned 180 degrees along a horizontal symmetry axis of the unmanned aerial vehicle, wherein n is {1,2,3.... 8 }; unmanned aerial vehicle's coordinate system the X axle does unmanned aerial vehicle's horizontal symmetry axis is followed unmanned aerial vehicle's tail is directional unmanned aerial vehicle's aircraft nose direction, the Y axle does unmanned aerial vehicle's perpendicular symmetry axisFollow unmanned aerial vehicle's belly points to unmanned aerial vehicle's top direction, the Z axle is followed unmanned aerial vehicle's port points to unmanned aerial vehicle's starboard side direction, the X axle the Y axle with mutually perpendicular between two arbitrary coordinate axes in the Z axle.
3. The unmanned aerial vehicle magnetic interference calibration method according to claim 1 or 2, wherein the unmanned aerial vehicle magnetic interference comprises permanent magnetic interference and magnetic induction interference.
4. The method for calibrating magnetic interference of unmanned aerial vehicle of claim 1, wherein the distance between the first magnetometer and the second magnetometer is greater than 3 times of the maximum structural size of the unmanned aerial vehicle, and the distance between the third magnetometer and the second magnetometer is greater than 3 times of the maximum structural size of the unmanned aerial vehicle.
5. An unmanned aerial vehicle magnetic disturbance calibration method as defined in any one of claims 1-4, wherein the first magnetometer, the second magnetometer, and the third magnetometer each comprise an atomic magnetometer or an optical pump magnetometer.
6. The unmanned aerial vehicle magnetic interference calibration method of claim 1, wherein the first magnetometer and the third magnetometer are the same set of magnetometers.
7. A distributed magnetic anomaly detection system, characterized in that the distributed magnetic anomaly detection system performs unmanned aerial vehicle magnetic interference calibration by adopting the unmanned aerial vehicle magnetic interference calibration method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911144966.1A CN111220932B (en) | 2019-11-21 | 2019-11-21 | Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911144966.1A CN111220932B (en) | 2019-11-21 | 2019-11-21 | Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111220932A true CN111220932A (en) | 2020-06-02 |
| CN111220932B CN111220932B (en) | 2022-01-11 |
Family
ID=70829004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911144966.1A Active CN111220932B (en) | 2019-11-21 | 2019-11-21 | Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111220932B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415613A (en) * | 2020-11-18 | 2021-02-26 | 北京自动化控制设备研究所 | Multi-machine cluster magnetic target positioning method and aerial cluster heterogeneous platform using same |
| CN113050182A (en) * | 2021-03-12 | 2021-06-29 | 安徽省勘查技术院(安徽省地质矿产勘查局能源勘查中心) | Water area geomagnetic field observation method and system |
| CN113359192A (en) * | 2021-06-04 | 2021-09-07 | 北京中科导控科技有限公司 | Weak magnetic anomaly target detection and positioning method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613983A (en) * | 2015-02-03 | 2015-05-13 | 中国航天时代电子公司 | Whole machine magnetometer calibration method applied to micro unmanned plane |
| CN105157690A (en) * | 2015-09-01 | 2015-12-16 | 湖南基石信息技术有限公司 | Four-rotor aircraft magnetic compass calibration method |
| CN106468563A (en) * | 2016-10-20 | 2017-03-01 | 极翼机器人(上海)有限公司 | A kind of airborne Magnetic Sensor online calibration method |
| CN106772493A (en) * | 2017-01-03 | 2017-05-31 | 昆明理工大学 | Unmanned plane course calculating system and its measuring method based on Big Dipper Differential positioning |
| CN107917704A (en) * | 2017-11-17 | 2018-04-17 | 上海拓攻机器人有限公司 | A kind of magnetic compass calibration method and device, computer-readable recording medium |
| CN108072910A (en) * | 2016-11-18 | 2018-05-25 | 北京自动化控制设备研究所 | A kind of distribution magnetic anomaly detection system environment magnetic compensation method |
| CN108254630A (en) * | 2018-02-07 | 2018-07-06 | 西安星网天线技术有限公司 | A kind of short-wave antenna directional diagram and the measuring system and method for gain |
| US20180321328A1 (en) * | 2017-05-02 | 2018-11-08 | Qualcomm Incorporated | Interference Mitigation In Magnetometers |
| CN109521384A (en) * | 2017-09-19 | 2019-03-26 | 北京自动化控制设备研究所 | A kind of vector magnetic compensation method based on atom magnetometer |
| US20190323839A1 (en) * | 2019-06-28 | 2019-10-24 | Intel Corporation | Virtual sensor and compass calibration |
-
2019
- 2019-11-21 CN CN201911144966.1A patent/CN111220932B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613983A (en) * | 2015-02-03 | 2015-05-13 | 中国航天时代电子公司 | Whole machine magnetometer calibration method applied to micro unmanned plane |
| CN105157690A (en) * | 2015-09-01 | 2015-12-16 | 湖南基石信息技术有限公司 | Four-rotor aircraft magnetic compass calibration method |
| CN106468563A (en) * | 2016-10-20 | 2017-03-01 | 极翼机器人(上海)有限公司 | A kind of airborne Magnetic Sensor online calibration method |
| CN108072910A (en) * | 2016-11-18 | 2018-05-25 | 北京自动化控制设备研究所 | A kind of distribution magnetic anomaly detection system environment magnetic compensation method |
| CN106772493A (en) * | 2017-01-03 | 2017-05-31 | 昆明理工大学 | Unmanned plane course calculating system and its measuring method based on Big Dipper Differential positioning |
| US20180321328A1 (en) * | 2017-05-02 | 2018-11-08 | Qualcomm Incorporated | Interference Mitigation In Magnetometers |
| CN109521384A (en) * | 2017-09-19 | 2019-03-26 | 北京自动化控制设备研究所 | A kind of vector magnetic compensation method based on atom magnetometer |
| CN107917704A (en) * | 2017-11-17 | 2018-04-17 | 上海拓攻机器人有限公司 | A kind of magnetic compass calibration method and device, computer-readable recording medium |
| CN108254630A (en) * | 2018-02-07 | 2018-07-06 | 西安星网天线技术有限公司 | A kind of short-wave antenna directional diagram and the measuring system and method for gain |
| US20190323839A1 (en) * | 2019-06-28 | 2019-10-24 | Intel Corporation | Virtual sensor and compass calibration |
Non-Patent Citations (2)
| Title |
|---|
| LEI JIANG ET AL.: "Scalar Calibration of Aeromagnetic Data Using BPANN and LS Algorithms Based on Fixed-Wing UAV Platform", 《IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT》 * |
| 张龙伟等: "基于旋翼无人机的磁干扰补偿技术", 《声学与电子工程》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112415613A (en) * | 2020-11-18 | 2021-02-26 | 北京自动化控制设备研究所 | Multi-machine cluster magnetic target positioning method and aerial cluster heterogeneous platform using same |
| CN112415613B (en) * | 2020-11-18 | 2022-11-11 | 北京自动化控制设备研究所 | Multi-machine cluster magnetic target positioning method and aerial cluster heterogeneous platform using same |
| CN113050182A (en) * | 2021-03-12 | 2021-06-29 | 安徽省勘查技术院(安徽省地质矿产勘查局能源勘查中心) | Water area geomagnetic field observation method and system |
| CN113050182B (en) * | 2021-03-12 | 2024-03-01 | 安徽省勘查技术院(安徽省地质矿产勘查局能源勘查中心) | Method and system for observing geomagnetic field in water area |
| CN113359192A (en) * | 2021-06-04 | 2021-09-07 | 北京中科导控科技有限公司 | Weak magnetic anomaly target detection and positioning method |
| CN113359192B (en) * | 2021-06-04 | 2022-06-10 | 北京中科导控科技有限公司 | Weak magnetic anomaly target detection and positioning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111220932B (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109556632B (en) | INS/GNSS/polarization/geomagnetic integrated navigation alignment method based on Kalman filtering | |
| CN107272069B (en) | Magnetic target method for tracing based on magnetic anomaly gradient | |
| CN111220932B (en) | Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system | |
| Fang et al. | A novel calibration method of magnetic compass based on ellipsoid fitting | |
| CN105891755B (en) | The bearing calibration of aircraft hanging fluxgate magnetic gradient tensor instrument | |
| CN107044854B (en) | Method for positioning remote magnetic target based on scalar magnetometer array | |
| CN109556631B (en) | INS/GNSS/polarization/geomagnetic combined navigation system alignment method based on least squares | |
| CN107727101B (en) | Three-dimensional attitude information rapid resolving method based on dual-polarized light vector | |
| CN112415613B (en) | Multi-machine cluster magnetic target positioning method and aerial cluster heterogeneous platform using same | |
| CN112858961B (en) | Compensation method for multisource magnetic interference of aviation platform | |
| Wang et al. | Attitude determination method by fusing single antenna GPS and low cost MEMS sensors using intelligent Kalman filter algorithm | |
| Brzozowski et al. | Magnetic field mapping as a support for UAV indoor navigation system | |
| CN113447993B (en) | Magnetic force vector measurement compensating flight method and system and magnetic compensation method and system | |
| Pei et al. | Magnetic gradiometer on an AUV for buried object detection | |
| Liu et al. | A new method for distortion magnetic field compensation of a geomagnetic vector measurement system | |
| CN109633539B (en) | Static positioning device and static positioning method for magnetic source | |
| Li et al. | A new compensation method for magnetic field distortions based on a 3-D Helmholtz coil | |
| CN106908058B (en) | Method for determining aperture of geomagnetic positioning array | |
| CN112965014B (en) | Compensation method and device for magnetic interference caused by change of mechanical structure of airplane | |
| CN112393745B (en) | Course error on-line compensation method of magnetic buoy | |
| CN114325848A (en) | Aviation magnetic interference compensation method and device for adaptive correction of compensation coefficient | |
| Brommer et al. | Improved state estimation in distorted magnetic fields | |
| CN115236746A (en) | Underwater multi-parameter magnetic measurement system carried by underwater vehicle and magnetic measurement positioning method | |
| Pesterev et al. | Estimation of the magnetic field generated by UAV in flight | |
| CN114609555B (en) | Cluster unmanned magnetic total field full-axis gradient detection method and detection system using same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |